Integration of the ADIS16465 Tactical-Grade Inertial Sensor with the Open-Source Pixhawk Autopilot and PX4 Flight Stack
Abstract
A tactical-grade inertial measurement unit (IMU) provides more stable measurements over low-cost IMUs in accuracy and precision. We developed a PX4 Autopilot device driver for a tactical-grade IMU, ADIS 16465, and a daughterboard for the Pixracer R15, a Pixhawk hardware flight controller. The daughterboard communicates over the serial peripheral interface (SPI) to receive IMU measurement data from the ADIS16465 and sends the data to the Pixracer R15. By adding the components in a compact way, we demonstrate that the proposed method replaces low-cost IMUs with a high-performance IMU while guaranteeing the clearance for the other connections that the Pixracer R15 offers. The entire source code that we modified to the legacy source tree is documented, and we validated the connection and functionality of the IMU. Readers who want to usetactical-grade IMUs, in particular the ADIS 16465 with a Pixracer R15, could reproduce our result in this technical report with minimal effort.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 2022
- Accession Number
- AD1169845
Entities
People
- Paul Sabbagh
- Sangjin Han
Organizations
- United States Army Research Laboratory